1009 lines
27 KiB
C++
1009 lines
27 KiB
C++
/**
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* \file pros/imu.hpp
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* \ingroup cpp-imu
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*
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* Contains prototypes for functions related to the VEX Inertial sensor.
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*
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* This file should not be modified by users, since it gets replaced whenever
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* a kernel upgrade occurs.
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*
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* \copyright (c) 2017-2023, Purdue University ACM SIGBots.
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*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*
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* \defgroup cpp-imu VEX Inertial Sensor C++ API
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*/
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#ifndef _PROS_IMU_HPP_
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#define _PROS_IMU_HPP_
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#include <cstdint>
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#include "pros/imu.h"
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#include "pros/device.hpp"
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#include <iostream>
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namespace pros {
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/**
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* \ingroup cpp-imu
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* */
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/**
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* \addtogroup cpp-imu
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* @{
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*/
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/**
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* \enum Imu_Status
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* @brief Indicates IMU status.
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*/
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enum class ImuStatus {
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/** The IMU is calibrating */
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calibrating = 0x01,
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/** Used to indicate that an error state was reached in the imu_get_status function,\
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not that the IMU is necessarily in an error state */
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error = 0xFF,
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};
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inline namespace v5 {
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/**
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* \ingroup cpp-imu
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*/
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class Imu : public Device {
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/**
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* \addtogroup cpp-imu
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* ///@{
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*/
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public:
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/**
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* Creates an Imu object for the given port
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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*
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* \param port
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* The V5 Inertial Sensor port number from 1-21
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*
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* \b Example
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* \code
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* #define IMU_PORT 1
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*
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* void opcontrol() {
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* pros::Imu imu(IMU_PORT);
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*
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* while (true) {
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* // Do something with the sensor data
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* }
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* }
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* \endcode
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*/
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explicit Imu(const std::uint8_t port) : Device(port, DeviceType::imu) {};
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/**
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* Calibrate IMU
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*
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* Calibration takes approximately 2 seconds and blocks during this period if
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* the blocking param is true, with a timeout for this operation being set a 3
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* seconds as a safety margin. This function also blocks until the IMU
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* status flag is set properly to E_IMU_STATUS_CALIBRATING, with a minimum
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* blocking time of 5ms and a timeout of 1 second if it's never set.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Inertial Sensor
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* EAGAIN - The sensor is already calibrating, or time out setting the status flag.
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*
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* \param blocking
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* Whether this function blocks during calibration.
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* \return 1 if the operation was successful or PROS_ERR if the operation
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* failed, setting errno.
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*
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* \b Example
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* \code
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*
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* #define IMU_PORT 1
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*
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* void opcontrol() {
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* pros::Imu imu(IMU_PORT);
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* imu.calibrate();
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* // Block until calibration is complete
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* imu.reset(true);
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* }
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* \endcode
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*/
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virtual std::int32_t reset(bool blocking = false) const;
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/**
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* Set the Inertial Sensor's refresh interval in milliseconds.
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*
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* The rate may be specified in increments of 5ms, and will be rounded down to
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* the nearest increment. The minimum allowable refresh rate is 5ms. The default
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* rate is 10ms.
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*
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* As values are copied into the shared memory buffer only at 10ms intervals,
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* setting this value to less than 10ms does not mean that you can poll the
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* sensor's values any faster. However, it will guarantee that the data is as
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* recent as possible.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Inertial Sensor
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* EAGAIN - The sensor is still calibrating
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*
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* \param rate The data refresh interval in milliseconds
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* \return 1 if the operation was successful or PROS_ERR if the operation
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* failed, setting errno.
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*
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* \b Example
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* \code
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*
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* #define IMU_PORT 1
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*
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* void opcontrol() {
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* pros::Imu imu(IMU_PORT);
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*
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* while (true) {
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* // Set the refresh rate to 5ms
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* std::int32_t status = imu.set_data_rate(5);
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* delay(20);
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*
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* // Check if the operation was successful
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* if (status == PROS_ERR) {
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* // Do something with the error
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* }
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*
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* // Do something with the sensor data
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* }
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* }
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* \endcode
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*/
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virtual std::int32_t set_data_rate(std::uint32_t rate) const;
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/**
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* Get the total number of degrees the Inertial Sensor has spun about the z-axis
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*
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* This value is theoretically unbounded. Clockwise rotations are represented
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* with positive degree values, while counterclockwise rotations are represented
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* with negative ones.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Inertial Sensor
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* EAGAIN - The sensor is still calibrating
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*
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* \param port
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* The V5 Inertial Sensor port number from 1-21
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* \return The degree value or PROS_ERR_F if the operation failed, setting
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* errno.
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*
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* \b Example
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* \code
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*
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* #define IMU_PORT 1
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*
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* void opcontrol() {
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* pros::Imu imu(IMU_PORT);
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*
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* while (true) {
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* // Get the total number of degrees the sensor has spun
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* printf("Total rotation: %f\n", imu.get_rotation());
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* delay(20);
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* }
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* }
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* \endcode
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*/
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virtual double get_rotation() const;
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/**
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* Get the Inertial Sensor's heading relative to the initial direction of its
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* x-axis
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*
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* This value is bounded by [0,360). Clockwise rotations are represented with
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* positive degree values, while counterclockwise rotations are represented with
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* negative ones.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Inertial Sensor
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* EAGAIN - The sensor is still calibrating
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*
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* \param port
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* The V5 Inertial Sensor port number from 1-21
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* \return The degree value or PROS_ERR_F if the operation failed, setting
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* errno.
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*
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* \b Example
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* \code
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*
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* #define IMU_PORT 1
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*
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* void opcontrol() {
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* pros::Imu imu(IMU_PORT);
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*
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* while (true) {
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* // Get the sensor's heading
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* printf("Heading: %f\n", imu.get_heading());
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* delay(20);
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* }
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* }
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* \endcode
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*/
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virtual double get_heading() const;
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/**
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* Get a quaternion representing the Inertial Sensor's orientation
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Inertial Sensor
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* EAGAIN - The sensor is still calibrating
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*
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* \param port
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* The V5 Inertial Sensor port number from 1-21
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* \return The quaternion representing the sensor's orientation. If the
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* operation failed, all the quaternion's members are filled with PROS_ERR_F and
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* errno is set.
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*
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* \b Example
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* \code
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*
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* #define IMU_PORT 1
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*
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* void opcontrol() {
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* pros::Imu imu(IMU_PORT);
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*
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* while (true) {
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* // Get the sensor's quaternion
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* pros::quaternion_s_t quat = imu.get_quaternion();
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* cout << "Quaternion: " << quat.w << ", " << quat.x << ", " << quat.y << ", " << quat.z << endl;
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* delay(20);
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* }
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* }
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* \endcode
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*/
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virtual pros::quaternion_s_t get_quaternion() const;
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/**
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* Get the Euler angles representing the Inertial Sensor's orientation
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Inertial Sensor
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* EAGAIN - The sensor is still calibrating
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*
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* \param port
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* The V5 Inertial Sensor port number from 1-21
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* \return The Euler angles representing the sensor's orientation. If the
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* operation failed, all the structure's members are filled with PROS_ERR_F and
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* errno is set.
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*
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* \b Example
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* \code
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*
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* #define IMU_PORT 1
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*
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* void opcontrol() {
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* pros::Imu imu(IMU_PORT);
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*
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* while (true) {
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* // Get the sensor's Euler angles
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* pros::euler_s_t euler = imu.get_euler();
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* cout << "Euler: " << euler.roll << ", " << euler.pitch << ", " << euler.yaw << endl;
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* delay(20);
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* }
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* }
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* \endcode
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*/
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virtual pros::euler_s_t get_euler() const;
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/**
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* Get the Inertial Sensor's pitch angle bounded by (-180,180)
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Inertial Sensor
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* EAGAIN - The sensor is still calibrating
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*
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* \param port
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* The V5 Inertial Sensor port number from 1-21
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* \return The pitch angle, or PROS_ERR_F if the operation failed, setting
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* errno.
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*
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* \b Example
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* \code
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*
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* #define IMU_PORT 1
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*
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* void opcontrol() {
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* pros::Imu imu(IMU_PORT);
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*
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* while (true) {
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* // Get the sensor's pitch
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* printf("Pitch: %f\n", imu.get_pitch());
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* delay(20);
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* }
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* }
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* \endcode
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*/
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virtual double get_pitch() const;
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/**
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* Get the Inertial Sensor's roll angle bounded by (-180,180)
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Inertial Sensor
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* EAGAIN - The sensor is still calibrating
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*
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* \param port
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* The V5 Inertial Sensor port number from 1-21
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* \return The roll angle, or PROS_ERR_F if the operation failed, setting errno.
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*
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* \b Example
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* \code
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*
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* #define IMU_PORT 1
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*
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* void opcontrol() {
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* pros::Imu imu(IMU_PORT);
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*
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* while (true) {
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* // Get the sensor's roll
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* printf("Roll: %f\n", imu.get_roll());
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* delay(20);
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* }
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* }
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* \endcode
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*/
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virtual double get_roll() const;
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/**
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* Get the Inertial Sensor's yaw angle bounded by (-180,180)
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Inertial Sensor
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* EAGAIN - The sensor is still calibrating
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*
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* \param port
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* The V5 Inertial Sensor port number from 1-21
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* \return The yaw angle, or PROS_ERR_F if the operation failed, setting errno.
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*
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* \b Example
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* \code
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*
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* #define IMU_PORT 1
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*
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* void opcontrol() {
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* pros::Imu imu(IMU_PORT);
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*
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* while (true) {
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* // Get the sensor's yaw
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* printf("Yaw: %f\n", imu.get_yaw());
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* delay(20);
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* }
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* }
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* \endcode
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*/
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virtual double get_yaw() const;
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/**
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* Get the Inertial Sensor's raw gyroscope values
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Inertial Sensor
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* EAGAIN - The sensor is still calibrating
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*
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* \param port
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* The V5 Inertial Sensor port number from 1-21
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* \return The raw gyroscope values. If the operation failed, all the
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* structure's members are filled with PROS_ERR_F and errno is set.
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*
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* \b Example
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* \code
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*
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* #define IMU_PORT 1
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*
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* void opcontrol() {
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* pros::Imu imu(IMU_PORT);
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*
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* while (true) {
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* // Get the sensor's raw gyroscope values
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* pros::imu_gyro_s_t gyro = imu.get_gyro_rate();
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* cout << "Gyro: " << gyro.x << ", " << gyro.y << ", " << gyro.z << endl;
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* delay(20);
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* }
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* }
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* \endcode
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*/
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virtual pros::imu_gyro_s_t get_gyro_rate() const;
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/**
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* Resets the current reading of the Inertial Sensor's rotation to zero
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as an Inertial Sensor
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* EAGAIN - The sensor is still calibrating
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*
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* \param port
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* The V5 Inertial Sensor port number from 1-21
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* \return 1 if the operation was successful or PROS_ERR if the operation
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* failed, setting errno.
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*
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* \b Example
|
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* \code
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*
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* #define IMU_PORT 1
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*
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* void opcontrol() {
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* pros::Imu imu(IMU_PORT);
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*
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* while (true) {
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* // Set the sensor's rotation value to 10
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* imu.set_rotation(10);
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* delay(20);
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*
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* // Do something with sensor
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*
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* // Reset the sensor's rotation value to 0
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* imu.tare_rotation();
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* delay(20);
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* }
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* }
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* \endcode
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*/
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virtual std::int32_t tare_rotation() const;
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/**
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* Resets the current reading of the Inertial Sensor's heading to zero
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*
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* This function uses the following values of errno when an error state is
|
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* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as an Inertial Sensor
|
|
* EAGAIN - The sensor is still calibrating
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|
*
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* \param port
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* The V5 Inertial Sensor port number from 1-21
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* \return 1 if the operation was successful or PROS_ERR if the operation
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|
* failed, setting errno.
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|
*
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|
* \b Example
|
|
* \code
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|
*
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|
* #define IMU_PORT 1
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*
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* void opcontrol() {
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|
* pros::Imu imu(IMU_PORT);
|
|
*
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|
* while (true) {
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* // Set the sensor's heading value to 10
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* imu.set_heading(10);
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* delay(20);
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*
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* // Do something with sensor
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*
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* // Reset the sensor's heading value to 0
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* imu.tare_heading();
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* delay(20);
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* }
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* }
|
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* \endcode
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*/
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virtual std::int32_t tare_heading() const;
|
|
/**
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|
* Resets the current reading of the Inertial Sensor's pitch to zero
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as an Inertial Sensor
|
|
* EAGAIN - The sensor is still calibrating
|
|
*
|
|
* \param port
|
|
* The V5 Inertial Sensor port number from 1-21
|
|
* \return 1 if the operation was successful or PROS_ERR if the operation
|
|
* failed, setting errno.
|
|
*
|
|
* \b Example
|
|
* \code
|
|
*
|
|
* #define IMU_PORT 1
|
|
*
|
|
* void opcontrol() {
|
|
* pros::Imu imu(IMU_PORT);
|
|
*
|
|
* while (true) {
|
|
* // Set the sensor's pitch value to 10
|
|
* imu.set_pitch(10);
|
|
* delay(20);
|
|
*
|
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* // Do something with sensor
|
|
*
|
|
* // Reset the sensor's pitch value to 0
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|
* imu.tare_pitch();
|
|
* delay(20);
|
|
* }
|
|
* }
|
|
* \endcode
|
|
*/
|
|
virtual std::int32_t tare_pitch() const;
|
|
/**
|
|
* Resets the current reading of the Inertial Sensor's yaw to zero
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as an Inertial Sensor
|
|
* EAGAIN - The sensor is still calibrating
|
|
*
|
|
* \param port
|
|
* The V5 Inertial Sensor port number from 1-21
|
|
* \return 1 if the operation was successful or PROS_ERR if the operation
|
|
* failed, setting errno.
|
|
*
|
|
* \b Example
|
|
* \code
|
|
*
|
|
* #define IMU_PORT 1
|
|
*
|
|
* void opcontrol() {
|
|
* pros::Imu imu(IMU_PORT);
|
|
*
|
|
* while (true) {
|
|
* // Set the sensor's yaw value to 10
|
|
* imu.set_yaw(10);
|
|
* delay(20);
|
|
*
|
|
* // Do something with sensor
|
|
*
|
|
* // Reset the sensor's yaw value to 0
|
|
* imu.tare_yaw();
|
|
* delay(20);
|
|
* }
|
|
* }
|
|
* \endcode
|
|
*/
|
|
virtual std::int32_t tare_yaw() const;
|
|
/**
|
|
* Resets the current reading of the Inertial Sensor's roll to zero
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as an Inertial Sensor
|
|
* EAGAIN - The sensor is still calibrating
|
|
*
|
|
* \param port
|
|
* The V5 Inertial Sensor port number from 1-21
|
|
* \return 1 if the operation was successful or PROS_ERR if the operation
|
|
* failed, setting errno.
|
|
*
|
|
* \b Example
|
|
* \code
|
|
*
|
|
* #define IMU_PORT 1
|
|
*
|
|
* void opcontrol() {
|
|
* pros::Imu imu(IMU_PORT);
|
|
*
|
|
* while (true) {
|
|
* // Set the sensor's roll value to 10
|
|
* imu.set_roll(10);
|
|
* delay(20);
|
|
*
|
|
* // Do something with sensor
|
|
*
|
|
* // Reset the sensor's roll value to 0
|
|
* imu.tare_roll();
|
|
* delay(20);
|
|
* }
|
|
* }
|
|
* \endcode
|
|
*/
|
|
virtual std::int32_t tare_roll() const;
|
|
/**
|
|
* Resets all 5 values of the Inertial Sensor to 0.
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as an Inertial Sensor
|
|
* EAGAIN - The sensor is still calibrating
|
|
*
|
|
* \param port
|
|
* The V5 Inertial Sensor port number from 1-21
|
|
* \return 1 if the operation was successful or PROS_ERR if the operation
|
|
* failed, setting errno.
|
|
*
|
|
* \b Example
|
|
* \code
|
|
*
|
|
* #define IMU_PORT 1
|
|
*
|
|
* void opcontrol() {
|
|
* pros::Imu imu(IMU_PORT);
|
|
*
|
|
* while (true) {
|
|
* // Reset all values of the sensor to 0
|
|
* imu.tare();
|
|
* delay(20);
|
|
* }
|
|
* }
|
|
* \endcode
|
|
*/
|
|
virtual std::int32_t tare() const;
|
|
/**
|
|
* Reset all 3 euler values of the Inertial Sensor to 0.
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as an Inertial Sensor
|
|
* EAGAIN - The sensor is still calibrating
|
|
*
|
|
* \param port
|
|
* The V5 Inertial Sensor port number from 1-21
|
|
* \return 1 if the operation was successful or PROS_ERR if the operation
|
|
* failed, setting errno.
|
|
*
|
|
* \b Example
|
|
* \code
|
|
*
|
|
* #define IMU_PORT 1
|
|
*
|
|
* void opcontrol() {
|
|
* pros::Imu imu(IMU_PORT);
|
|
*
|
|
* while (true) {
|
|
* // Reset all euler values of the sensor to 0
|
|
* imu.tare_euler();
|
|
* delay(20);
|
|
* }
|
|
* }
|
|
* \endcode
|
|
*/
|
|
virtual std::int32_t tare_euler() const;
|
|
/**
|
|
* Sets the current reading of the Inertial Sensor's heading to target value
|
|
* Target will default to 360 if above 360 and default to 0 if below 0.
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as an Inertial Sensor
|
|
* EAGAIN - The sensor is still calibrating
|
|
*
|
|
* \param port
|
|
* The V5 Inertial Sensor port number from 1-21
|
|
* \param target
|
|
* Target value for the heading value to be set to
|
|
* \return 1 if the operation was successful or PROS_ERR if the operation
|
|
* failed, setting errno.
|
|
*
|
|
* \b Example
|
|
* \code
|
|
*
|
|
* #define IMU_PORT 1
|
|
*
|
|
* void opcontrol() {
|
|
* pros::Imu imu(IMU_PORT);
|
|
*
|
|
* while (true) {
|
|
* // Set the sensor's heading value to 10
|
|
* imu.set_heading(10);
|
|
* delay(20);
|
|
*
|
|
* // Do something with sensor
|
|
* }
|
|
* }
|
|
* \endcode
|
|
*/
|
|
virtual std::int32_t set_heading(const double target) const;
|
|
/**
|
|
* Sets the current reading of the Inertial Sensor's rotation to target value
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as an Inertial Sensor
|
|
* EAGAIN - The sensor is still calibrating
|
|
*
|
|
* \param port
|
|
* The V5 Inertial Sensor port number from 1-21
|
|
* \param target
|
|
* Target value for the rotation value to be set to
|
|
* \return 1 if the operation was successful or PROS_ERR if the operation
|
|
* failed, setting errno.
|
|
*
|
|
* \b Example
|
|
* \code
|
|
*
|
|
* #define IMU_PORT 1
|
|
*
|
|
* void opcontrol() {
|
|
* pros::Imu imu(IMU_PORT);
|
|
*
|
|
* while (true) {
|
|
* // Set the sensor's rotation value to 10
|
|
* imu.set_rotation(10);
|
|
* delay(20);
|
|
*
|
|
* // Do something with sensor
|
|
* }
|
|
* }
|
|
* \endcode
|
|
*/
|
|
virtual std::int32_t set_rotation(const double target) const;
|
|
/**
|
|
* Sets the current reading of the Inertial Sensor's yaw to target value
|
|
* Will default to +/- 180 if target exceeds +/- 180.
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as an Inertial Sensor
|
|
* EAGAIN - The sensor is still calibrating
|
|
*
|
|
* \param port
|
|
* The V5 Inertial Sensor port number from 1-21
|
|
* \param target
|
|
* Target value for yaw value to be set to
|
|
* \return 1 if the operation was successful or PROS_ERR if the operation
|
|
* failed, setting errno.
|
|
*
|
|
* \b Example
|
|
* \code
|
|
*
|
|
* #define IMU_PORT 1
|
|
*
|
|
* void opcontrol() {
|
|
* pros::Imu imu(IMU_PORT);
|
|
*
|
|
* while (true) {
|
|
* // Set the sensor's yaw value to 10
|
|
* imu.set_yaw(10);
|
|
* delay(20);
|
|
*
|
|
* // Do something with sensor
|
|
* }
|
|
* }
|
|
* \endcode
|
|
*/
|
|
virtual std::int32_t set_yaw(const double target) const;
|
|
/**
|
|
* Sets the current reading of the Inertial Sensor's pitch to target value
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as an Inertial Sensor
|
|
* EAGAIN - The sensor is still calibrating
|
|
*
|
|
* \param port
|
|
* The V5 Inertial Sensor port number from 1-21
|
|
* \param target
|
|
* Target value for the pitch value to be set to
|
|
* \return 1 if the operation was successful or PROS_ERR if the operation
|
|
* failed, setting errno.
|
|
*
|
|
* \b Example
|
|
* \code
|
|
*
|
|
* #define IMU_PORT 1
|
|
*
|
|
* void opcontrol() {
|
|
* pros::Imu imu(IMU_PORT);
|
|
*
|
|
* while (true) {
|
|
* // Set the sensor's pitch value to 10
|
|
* imu.set_pitch(10);
|
|
* delay(20);
|
|
*
|
|
* // Do something with sensor
|
|
* }
|
|
* }
|
|
* \endcode
|
|
*/
|
|
virtual std::int32_t set_pitch(const double target) const;
|
|
/**
|
|
* Sets the current reading of the Inertial Sensor's roll to target value
|
|
* Will default to +/- 180 if target exceeds +/- 180.
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as an Inertial Sensor
|
|
* EAGAIN - The sensor is still calibrating
|
|
*
|
|
* \param port
|
|
* The V5 Inertial Sensor port number from 1-21
|
|
* \param target
|
|
* Target euler values for the euler values to be set to
|
|
* \return 1 if the operation was successful or PROS_ERR if the operation
|
|
* failed, setting errno.
|
|
*
|
|
* \b Example
|
|
* \code
|
|
*
|
|
* #define IMU_PORT 1
|
|
*
|
|
* void opcontrol() {
|
|
* pros::Imu imu(IMU_PORT);
|
|
*
|
|
* while (true) {
|
|
* // Set the sensor's roll value to 100
|
|
* imu.set_roll(100);
|
|
* delay(20);
|
|
*
|
|
* // Do something with sensor
|
|
* }
|
|
* }
|
|
* \endcode
|
|
*/
|
|
virtual std::int32_t set_roll(const double target) const;
|
|
/**
|
|
* Sets the current reading of the Inertial Sensor's euler values to
|
|
* target euler values. Will default to +/- 180 if target exceeds +/- 180.
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as an Inertial Sensor
|
|
* EAGAIN - The sensor is still calibrating
|
|
*
|
|
* \param port
|
|
* The V5 Inertial Sensor port number from 1-21
|
|
* \param target
|
|
* Target euler values for the euler values to be set to
|
|
* \return 1 if the operation was successful or PROS_ERR if the operation
|
|
* failed, setting errno.
|
|
*
|
|
* \b Example
|
|
* \code
|
|
*
|
|
* #define IMU_PORT 1
|
|
*
|
|
* void opcontrol() {
|
|
* pros::Imu imu(IMU_PORT);
|
|
*
|
|
* while (true) {
|
|
* // Set the sensor's euler values to 50
|
|
* imu.set_euler(50);
|
|
* delay(20);
|
|
*
|
|
* // Do something with sensor
|
|
* }
|
|
* }
|
|
* \endcode
|
|
*/
|
|
virtual std::int32_t set_euler(const pros::euler_s_t target) const;
|
|
/**
|
|
* Get the Inertial Sensor's raw accelerometer values
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as an Inertial Sensor
|
|
* EAGAIN - The sensor is still calibrating
|
|
*
|
|
* \param port
|
|
* The V5 Inertial Sensor port number from 1-21
|
|
* \return The raw accelerometer values. If the operation failed, all the
|
|
* structure's members are filled with PROS_ERR_F and errno is set.
|
|
*
|
|
* \b Example
|
|
* \code
|
|
*
|
|
* #define IMU_PORT 1
|
|
*
|
|
* void opcontrol() {
|
|
* pros::Imu imu(IMU_PORT);
|
|
*
|
|
* while (true) {
|
|
* // Get the sensor's raw accelerometer values
|
|
* pros::imu_accel_s_t accel = imu.get_accel();
|
|
* printf("x: %f, y: %f, z: %f\n", accel.x, accel.y, accel.z);
|
|
* delay(20);
|
|
*
|
|
* // Do something with sensor
|
|
* }
|
|
* }
|
|
* \endcode
|
|
*/
|
|
virtual pros::imu_accel_s_t get_accel() const;
|
|
/**
|
|
* Get the Inertial Sensor's status
|
|
*
|
|
* This function uses the following values of errno when an error state is
|
|
* reached:
|
|
* ENXIO - The given value is not within the range of V5 ports (1-21).
|
|
* ENODEV - The port cannot be configured as an Inertial Sensor
|
|
* EAGAIN - The sensor is still calibrating
|
|
*
|
|
* \param port
|
|
* The V5 Inertial Sensor port number from 1-21
|
|
* \return The Inertial Sensor's status code, or PROS_ERR if the operation
|
|
* failed, setting errno.
|
|
*
|
|
* \b Example
|
|
* \code
|
|
*
|
|
* #define IMU_PORT 1
|
|
*
|
|
* void opcontrol() {
|
|
* pros::Imu imu(IMU_PORT);
|
|
*
|
|
* while (true) {
|
|
* // Get the sensor's status
|
|
* pros::ImuStatus status = imu.get_status();
|
|
* cout << "Status: " << status << endl;
|
|
* delay(20);
|
|
*
|
|
* // Do something with sensor
|
|
* }
|
|
* }
|
|
* \endcode
|
|
*/
|
|
virtual pros::ImuStatus get_status() const;
|
|
/**
|
|
* Check whether the IMU is calibrating
|
|
*
|
|
* \return true if the V5 Inertial Sensor is calibrating or false
|
|
* false if it is not.
|
|
*
|
|
* \b Example
|
|
* \code
|
|
*
|
|
* #define IMU_PORT 1
|
|
*
|
|
* void opcontrol() {
|
|
* pros::Imu imu(IMU_PORT);
|
|
*
|
|
* while (true) {
|
|
* // Calibrate the sensor
|
|
* imu.calibrate();
|
|
* delay(20);
|
|
*
|
|
* // Check if the sensor is calibrating
|
|
* if (imu.is_calibrating()) {
|
|
* printf("Calibrating...\n");
|
|
* }
|
|
*
|
|
* // Do something with sensor
|
|
* }
|
|
* }
|
|
* \endcode
|
|
*/
|
|
virtual bool is_calibrating() const;
|
|
|
|
/**
|
|
* This is the overload for the << operator for printing to streams
|
|
*
|
|
* Prints in format(this below is all in one line with no new line):
|
|
* Imu [port: imu._port, rotation: (rotation), heading: (heading),
|
|
* pitch: (pitch angle), roll: (roll angle), yaw: (yaw angle),
|
|
* gyro rate: {x,y,z}, get accel: {x,y,z}, calibrating: (calibrating boolean)]
|
|
*/
|
|
friend std::ostream& operator<<(std::ostream& os, const pros::Imu& imu);
|
|
|
|
///@}
|
|
};
|
|
|
|
namespace literals {
|
|
const pros::Imu operator"" _imu(const unsigned long long int i);
|
|
} // namespace literals
|
|
|
|
using IMU = Imu;
|
|
} // namespace v5
|
|
} // namespace pros
|
|
|
|
#endif
|